CN110906107A - Control method of peristaltic pipeline robot and peristaltic pipeline robot - Google Patents
Control method of peristaltic pipeline robot and peristaltic pipeline robot Download PDFInfo
- Publication number
- CN110906107A CN110906107A CN201911215757.1A CN201911215757A CN110906107A CN 110906107 A CN110906107 A CN 110906107A CN 201911215757 A CN201911215757 A CN 201911215757A CN 110906107 A CN110906107 A CN 110906107A
- Authority
- CN
- China
- Prior art keywords
- pipeline
- peristaltic
- support frame
- robot
- pipeline robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000002572 peristaltic effect Effects 0.000 title claims abstract description 91
- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000033001 locomotion Effects 0.000 claims description 12
- 230000008602 contraction Effects 0.000 claims description 3
- 230000006978 adaptation Effects 0.000 claims description 2
- 230000008855 peristalsis Effects 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 239000007789 gas Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000002244 precipitate Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the technical field of pipeline robots, in particular to a control method of a peristaltic pipeline robot and the peristaltic pipeline robot. According to the invention, an instruction is sent to the DSP controller of the peristaltic pipeline robot through the upper computer, the peristaltic pipeline robot is controlled to move in the pipeline, and the pipeline can be desilted simultaneously in the process of realizing peristalsis.
Description
Technical Field
The invention relates to the technical field of pipeline robots, in particular to a control method of a peristaltic pipeline robot and the peristaltic pipeline robot.
Background
Pipelines are devices for transporting gases, liquids or fluids with solid particles, which are connected by pipes, pipe connectors, valves, etc., and are widely used in water supply, drainage, heating, gas supply, long-distance transportation of oil and gas, agricultural irrigation, hydraulic engineering, various industrial devices, and household appliances such as air conditioners. The liquid flowing through the pipeline can generate precipitates in various forms frequently along with the influence of time, gravity and chemical substances, and the pipeline can be blocked to cause a series of subsequent quality safety problems and pipeline service life problems when the precipitates are serious. In order to maintain and clean the pipeline, a pipeline robot is generated. The development of pipeline robots gradually moves to the research and development and application of bionic robots from traditional robots to present, and peristaltic robots begin to appear. The existing peristaltic robot is generally used for detecting the inner diameter of a pipeline, the mechanical core structure is large, a driving module is mainly used for coupling hydraulic pressure and the mechanical structure, supporting legs are short, and the application range is small. The drainage system of the air conditioner is internally arranged in the air conditioner and is discharged through a section of metal pipeline, the condensate water is discharged through the drainage outlet, but the condensate water is usually not discharged immediately and is precipitated in the pipeline, various residues are usually mixed with the condensate water, particularly for the air conditioner which is used for more than a certain age, the residues carried by the condition are more serious, the blockage of the drainage pipe is caused more frequently, the service quality and the service life of the air conditioner are reduced sharply, the conventional method for the drainage pipe of the air conditioner utilizes metal iron wires and the like to conduct pipe dredging, the operation is rough, violence is caused, the effect is low, the damage to the pipeline is increased, and the secondary damage is aggravated.
Disclosure of Invention
In order to solve the above problems, the present invention provides a method for controlling a peristaltic pipeline robot, and a peristaltic pipeline robot to which the method for controlling a peristaltic pipeline robot is applied.
The invention is realized by adopting the following scheme:
the utility model provides a control method of peristaltic pipeline robot, put peristaltic pipeline robot into the target pipeline, send initialization and operation command to peristaltic pipeline robot through the host computer, the DSP controller that sets up in the peristaltic pipeline robot receives the instruction, the DSP controller is to the driver of peristaltic pipeline robot, desilting ware and support controller issue the instruction, support controller receives the support frame gesture of instruction adjustment peristaltic pipeline robot, and the diameter of adaptation pipeline, driver drive robot removes, the desilting ware carries out the desilting to the pipeline.
Further, the method comprises the following detailed steps:
step 1, placing a peristaltic pipeline robot into a target pipeline and starting the peristaltic pipeline robot;
step 6, when the support frame meets an obstacle, the support controller sends a signal of reaching a silting point to the DSP controller, the DSP controller sends an instruction to the desilting device, and the desilting device is started to carry out desilting on the pipeline;
the peristaltic pipeline robot comprises a front end part and a tail end part, the driver is connected between the front end part and the tail end part, and the support frame comprises a front end support frame and a tail end support frame.
Further, the method also comprises a step 7, when the robot is ready to leave the pipeline, the support frame leaves the pipeline wall, a signal is fed back to the DSP controller, and the DSP controller issues a reset/stop operation instruction.
Further, in the step 6, the DSP controller sends an instruction to decrease the moving speed to the driver at the same time of sending an instruction to the desilter.
Further, in step 4, the process of adapting the support frame to the diameter of the pipeline includes the following steps:
s1, the support controller controls the front end support frame and the tail end support frame to be opened;
s2, judging whether the front end support frame and the tail end support frame touch the inner wall of the pipeline, if so, feeding back a signal to the DSP controller, waiting for executing a next step of instruction, and if not, turning to S3;
s3, judging whether the front end support frame and the tail end support frame reach the limit positions, if not, turning to S1, if so, judging that the diameters of the peristaltic pipeline robot and the pipeline are not matched, and turning to S4;
and S4, the support controller sends a feedback signal to the DSP controller, and the DSP controller feeds back that the diameter of the peristaltic pipeline robot is not matched with that of the pipeline to the upper computer and exceeds the use condition.
Furthermore, the upper computer is provided with a return information real-time display module and a pipeline video real-time display module.
Furthermore, the crawling pipeline robot is provided with a camera, an inertial navigation module and a GPS positioning system.
Further, in the step 5, the driving the dredging robot by the driver to move in the pipeline comprises the following steps:
a1, the front end support frame is loosened by a certain angle, and the tail end support frame is tightly contacted with the pipe wall;
a2, the driver drives the front part to push forwards, and the front part of the peristaltic pipeline robot makes extending movement;
a3, the DSP controller sends out an instruction, and the front end support frame is opened until the front end support frame is tightly contacted with the pipe wall;
a4, the tail end supporting frame is loosened by a certain angle, and the front end supporting frame is tightly contacted with the pipe wall;
a5, the driver drives the rear end part to advance, and the rear end part of the peristaltic pipeline robot makes contraction movement;
a6, the DSP controller sends out a command, and the tail end support frame is opened until the tail end support frame is tightly contacted with the pipe wall.
Furthermore, the upper computer is wirelessly connected with a DSP controller of the peristaltic pipeline robot.
A pipeline peristaltic robot and a control method of the peristaltic pipeline robot are applied.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, an instruction is issued to the DSP controller of the peristaltic pipeline robot through the upper computer, the peristaltic pipeline robot is controlled to move in the pipeline, the pipeline can be desilted simultaneously in the process of realizing peristalsis, meanwhile, the camera, the inertial navigation module and the GPS positioning system are arranged through the peristaltic pipeline robot, and the cooperation of the return information real-time display module and the pipeline video real-time display module is adopted, so that the desilting condition is monitored in real time, an operator can issue the instruction according to the actual condition, and the desilting process is more efficient.
Drawings
Fig. 1 is a schematic structural diagram of a peristaltic pipeline robot in a control method of the peristaltic pipeline robot provided by the invention.
Fig. 2 is a schematic structural diagram of an actuator part of a peristaltic pipeline robot in the control method of the peristaltic pipeline robot provided by the invention.
The figure includes:
the device comprises a front end part 1, a rear end part 2, a driver 3, a driving motor 31, a shaft body 32, a gear 33, a transmission wheel 34, a track piece 35, a silt remover 4, a support frame 5, a front end support frame 51 and a rear end support frame 52.
Detailed Description
To facilitate an understanding of the present invention for those skilled in the art, the present invention will be described in further detail below with reference to specific embodiments and accompanying drawings.
Referring to fig. 1 to 2, the method for controlling a peristaltic pipeline robot provided by the invention comprises a method for controlling a peristaltic pipeline robot, the peristaltic pipeline robot is placed into a target pipeline, an initialization and operation command is sent to the peristaltic pipeline robot through an upper computer, a DSP controller arranged in the peristaltic pipeline robot receives the command, the DSP controller issues the command to a driver 3, a desilting device 4 and a support controller of the peristaltic pipeline robot, the support controller receives the command to adjust the posture of a support frame 5 of the peristaltic pipeline robot and adapt to the diameter of the pipeline, the driver 3 drives the robot to move, and the desilting device 4 carries out desilting on the pipeline. The upper computer is wirelessly connected with the DSP controller of the peristaltic pipeline robot.
The method comprises the following detailed steps:
step 1, placing a peristaltic pipeline robot into a target pipeline and starting the peristaltic pipeline robot;
step 6, when the support frame 5 meets an obstacle, the support controller sends a signal of reaching a silting point to the DSP controller, the DSP controller sends an instruction to the desilting device 4, and the desilting device 4 is started to carry out desilting on the pipeline;
and 7, when the robot is ready to leave the pipeline, the support frame 5 leaves the pipeline wall and feeds back a signal to the DSP controller, and the DSP controller issues a reset/stop operation instruction.
The peristaltic pipeline robot comprises a front end part 1 and a tail end part 2, the driver 3 is connected between the front end part 1 and the tail end part 2, and the support frame 5 comprises a front end support frame 51 and a tail end support frame 52.
In step 6, the DSP controller sends an instruction to decrease the moving speed to the driver 3 at the same time as sending an instruction to the desilter 4.
In the step 4, the process of adapting the support frame 5 to the diameter of the pipeline comprises the following steps:
s1, the supporting controller controls the front supporting frame 51 and the tail supporting frame 52 to open;
s2, judging whether the front end support frame 51 and the tail end support frame 52 touch the inner wall of the pipeline, if so, feeding back a signal to the DSP controller to wait for executing the next step of instruction, and if not, turning to S3;
s3, judging whether the front end support frame 51 and the tail end support frame 52 reach the limit positions, if not, turning to S1, if so, judging that the diameters of the peristaltic pipeline robot and the pipeline are not matched, and turning to S4;
and S4, the support controller sends a feedback signal to the DSP controller, and the DSP controller feeds back that the diameter of the peristaltic pipeline robot is not matched with that of the pipeline to the upper computer and exceeds the use condition.
The upper computer is provided with a return information real-time display module and a pipeline video real-time display module. The peristaltic pipeline robot is provided with a camera (an underwater camera), an inertial navigation module and a GPS positioning system. When the inertial navigation module guides the robot to reach a GPS designated position, meanwhile, the support frame 5 reaches a silted up zone, the camera monitors and returns real-time information, the DSP controller receives a signal and controls the desilting device 4 to rotate for desilting, the desilting effect is fed back to the upper computer, and an operator gives an instruction according to actual conditions to enable the DSP controller to control the back-and-forth movement of the driver 3 to more efficiently desilt. The support frame 5 is provided with a sensor (a pressure sensor and the like) which can sense the environment such as obstacles or silting. The desilting device 4 can be a motor which drives a brush to rotate, so that the pipe wall is cleaned.
In the step 5, the driving device 3 drives the dredging robot to move in the pipeline, and the method comprises the following steps:
a1, the front end support frame 51 is loosened to a certain angle, and the tail end support frame 52 is tightly contacted with the pipe wall;
a2, the driver 3 drives the front end part 1 to advance, and the front end part 1 of the peristaltic pipeline robot makes an extending motion;
a3, the DSP controller sends out an instruction, and the front end support frame 51 is opened until the front end support frame is tightly contacted with the pipe wall;
a4, the tail end support frame 52 is loosened to a certain angle, and the front end support frame 51 is tightly contacted with the pipe wall;
a5, the driver 3 drives the rear end part to advance, and the rear end part of the peristaltic pipeline robot makes contraction movement;
a6, the DSP controller gives out a command, and the tail end support frame 52 is opened until the tail end support frame is tightly contacted with the pipe wall.
The moving step is a forward moving step, and if the backward moving is needed, the reverse is performed. Specifically, the driver 3 includes a driving motor 31, a gear 33 set drivingly connected to the driving motor 31, and a rail member 35 drivingly connected to the gear 33 set, the rail member 35 being connected to the front end portion 1. The gear 33 set comprises a shaft body 32, a gear 33 and a transmission wheel 34, wherein the shaft body 32 is connected with the tail end part 2, the gear 33 is in transmission connection with the driving motor 31, the transmission wheel 34 is in transmission connection with a track member 35, an S-shaped track is arranged on the track member 35, the transmission wheel 34 is provided with a column member matched with the track, and when the transmission member rotates, the track member 35 can reciprocate under the matching of the track and the column member, namely, the extending movement of the front end part 1 and the retracting movement of the tail end part 2 can be realized.
The side near the front end portion 1 is defined as an a-terminal, and the side near the rear end portion 2 is defined as a b-terminal. After support frame 5 adapts to the pipeline diameter, the instruction is assigned to the DSP controller, the initialization makes drive wheel 34 arrange in the a end in, front end support frame 51 relaxes certain angle, afterbody support frame 5 fastens the pipe wall, under driving motor 31 area drive, the column of drive wheel 34 removes in order to drive front end support frame 51 to impel forward along the track to the b end, reach b end rear drive 3 received signal and arrive b end instruction to DSP controller conveying, the DSP controller assigns the instruction and gives and make front end support frame 51 fasten this moment, tail end support frame 52 relaxes certain angle, make the robot do the shrink motion. When the cylindrical member of the driving wheel 34 moves along the track to reach the end a, the driver 3 receives the signal and sends a reaching command to the controller, at the moment, the DSP controller gives a command to fasten the tail end support frame 52, the tail end support frame 52 is loosened by a certain angle, and the operation is repeated to the end b. The peristaltic forward movement is performed by taking the above steps as a cycle, and when the backward movement is required, the steps are only required to be reversed.
The invention also provides a pipeline peristaltic robot and a control method applying the peristaltic pipeline robot.
According to the invention, an instruction is issued to the DSP controller of the peristaltic pipeline robot through the upper computer, the peristaltic pipeline robot is controlled to move in the pipeline, the pipeline can be desilted simultaneously in the process of realizing peristalsis, meanwhile, the camera, the inertial navigation module and the GPS positioning system are arranged through the peristaltic pipeline robot, and the cooperation of the return information real-time display module and the pipeline video real-time display module is adopted, so that the desilting condition is monitored in real time, an operator can issue the instruction according to the actual condition, and the desilting process is more efficient.
In the description of the present invention, it is to be understood that the indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings and are only for convenience in describing the present invention and simplifying the description, but are not intended to indicate or imply that the indicated devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, e.g., as meaning permanently attached, removably attached, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
While the invention has been described in conjunction with the specific embodiments set forth above, it is evident that many alternatives, modifications, and variations will be apparent to those skilled in the art in light of the foregoing description. Accordingly, it is intended to embrace all such alternatives, modifications, and variations that fall within the scope of the included claims.
Claims (10)
1. The utility model provides a control method of peristaltic pipeline robot, characterized in that, put peristaltic pipeline robot into the target pipeline, send initialization and operation command to peristaltic pipeline robot through the host computer, the DSP controller that sets up in the peristaltic pipeline robot receives the instruction, the DSP controller is to peristaltic pipeline robot's driver, desilting ware and support controller issue the instruction, support controller receives the support frame gesture of instruction adjustment peristaltic pipeline robot, and the diameter of adaptation pipeline, the driver drive robot removes, the desilting ware is desilted to the pipeline.
2. The control method of the peristaltic pipeline robot according to claim 1, comprising the following detailed steps:
step 1, placing a peristaltic pipeline robot into a target pipeline and starting the peristaltic pipeline robot;
step 2, the upper computer sends initialization and operation commands to a DSP controller of the peristaltic pipeline robot;
step 3, initializing the peristaltic pipeline robot, and issuing instructions to the driver, the desilting device and the support controller by the DSP controller;
step 4, the support controller adjusts the opening angle of the support frame to adapt to the diameter of the pipeline;
step 5, the driver drives the dredging robot to move in the pipeline;
step 6, when the support frame meets an obstacle, the support controller sends a signal of reaching a silting point to the DSP controller, the DSP controller sends an instruction to the desilting device, and the desilting device is started to carry out desilting on the pipeline;
the peristaltic pipeline robot comprises a front end part and a tail end part, the driver is connected between the front end part and the tail end part, and the support frame comprises a front end support frame and a tail end support frame.
3. The method for controlling a peristaltic pipeline robot according to claim 2, further comprising a step 7 of the robot leaving the pipeline wall by the support frame in preparation for leaving the pipeline and feeding back a signal to the DSP controller, and the DSP controller issuing a reset/stop instruction.
4. The method for controlling a peristaltic pipeline robot according to claim 2, wherein in step 6, the DSP controller sends a command to decrease the moving speed to the actuator at the same time as sending a command to the desilter.
5. The method for controlling a peristaltic pipeline robot according to claim 2, wherein the step 4 of adapting the support frame to the diameter of the pipeline comprises the steps of:
s1, the support controller controls the front end support frame and the tail end support frame to be opened;
s2, judging whether the front end support frame and the tail end support frame touch the inner wall of the pipeline, if so, feeding back a signal to the DSP controller, waiting for executing a next step of instruction, and if not, turning to S3;
s3, judging whether the front end support frame and the tail end support frame reach the limit positions, if not, turning to S1, if so, judging that the diameters of the peristaltic pipeline robot and the pipeline are not matched, and turning to S4;
and S4, the support controller sends a feedback signal to the DSP controller, and the DSP controller feeds back that the diameter of the peristaltic pipeline robot is not matched with that of the pipeline to the upper computer and exceeds the use condition.
6. The control method of the peristaltic pipeline robot according to claim 1, wherein the upper computer is provided with a return information real-time display module and a pipeline video real-time display module.
7. The method for controlling a peristaltic pipeline robot according to claim 1, wherein the peristaltic pipeline robot is provided with a camera, an inertial navigation module, and a GPS positioning system.
8. The control method of the peristaltic pipeline robot according to claim 1, wherein the step 5, in which the driver drives the dredging robot to move in the pipeline, comprises the steps of:
a1, the front end support frame is loosened by a certain angle, and the tail end support frame is tightly contacted with the pipe wall;
a2, the driver drives the front part to push forwards, and the front part of the peristaltic pipeline robot makes extending movement;
a3, the DSP controller sends out an instruction, and the front end support frame is opened until the front end support frame is tightly contacted with the pipe wall;
a4, the tail end supporting frame is loosened by a certain angle, and the front end supporting frame is tightly contacted with the pipe wall;
a5, the driver drives the rear end part to advance, and the rear end part of the peristaltic pipeline robot makes contraction movement;
a6, the DSP controller sends out a command, and the tail end support frame is opened until the tail end support frame is tightly contacted with the pipe wall.
9. The method for controlling the peristaltic pipeline robot according to claim 1, wherein the upper computer is wirelessly connected with a DSP controller of the peristaltic pipeline robot.
10. A peristaltic robot for a pipeline, wherein the method for controlling a peristaltic robot for a pipeline according to any one of claims 1 to 9 is applied.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911215757.1A CN110906107A (en) | 2019-12-02 | 2019-12-02 | Control method of peristaltic pipeline robot and peristaltic pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911215757.1A CN110906107A (en) | 2019-12-02 | 2019-12-02 | Control method of peristaltic pipeline robot and peristaltic pipeline robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110906107A true CN110906107A (en) | 2020-03-24 |
Family
ID=69821332
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911215757.1A Pending CN110906107A (en) | 2019-12-02 | 2019-12-02 | Control method of peristaltic pipeline robot and peristaltic pipeline robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110906107A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112628524A (en) * | 2020-12-31 | 2021-04-09 | 重庆安全技术职业学院 | High-precision positioning method for small-diameter pipeline robot based on turning angle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204879274U (en) * | 2015-04-27 | 2015-12-16 | 西安文理学院 | Wriggling formula pipeline flexible robot drive mechanism |
| CN105605370A (en) * | 2016-02-05 | 2016-05-25 | 四川农业大学 | Wireless-remote-control three-way crawler-type pipe dredging robot |
| CN108008659A (en) * | 2017-07-19 | 2018-05-08 | 西安长庆科技工程有限责任公司 | The control system and control method of a kind of pipe robot |
| CN208503768U (en) * | 2018-05-15 | 2019-02-15 | 浙江工业大学 | A kind of thin stifled cleaning robot of creeping motion type pipeline |
| CN109807120A (en) * | 2019-03-08 | 2019-05-28 | 长沙理工大学 | A kind of self-adapting pipe method for cleaning |
-
2019
- 2019-12-02 CN CN201911215757.1A patent/CN110906107A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204879274U (en) * | 2015-04-27 | 2015-12-16 | 西安文理学院 | Wriggling formula pipeline flexible robot drive mechanism |
| CN105605370A (en) * | 2016-02-05 | 2016-05-25 | 四川农业大学 | Wireless-remote-control three-way crawler-type pipe dredging robot |
| CN108008659A (en) * | 2017-07-19 | 2018-05-08 | 西安长庆科技工程有限责任公司 | The control system and control method of a kind of pipe robot |
| CN208503768U (en) * | 2018-05-15 | 2019-02-15 | 浙江工业大学 | A kind of thin stifled cleaning robot of creeping motion type pipeline |
| CN109807120A (en) * | 2019-03-08 | 2019-05-28 | 长沙理工大学 | A kind of self-adapting pipe method for cleaning |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112628524A (en) * | 2020-12-31 | 2021-04-09 | 重庆安全技术职业学院 | High-precision positioning method for small-diameter pipeline robot based on turning angle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11781698B2 (en) | Modular robotic crawler with hybrid locomotion for inspection of small diameter pipe | |
| CN107649470B (en) | Pipeline cleaning robot and method capable of adapting to changes of different pipe diameters | |
| JP5513964B2 (en) | Automatic screw tightening device | |
| JP5537355B2 (en) | Automatic screw tightening device | |
| US20180104728A1 (en) | Apparatuses, systems, and methods for cleaning | |
| CN111408494B (en) | Rail type spraying robot | |
| US9327411B2 (en) | Robotic gripper | |
| CN110906107A (en) | Control method of peristaltic pipeline robot and peristaltic pipeline robot | |
| CN110864187A (en) | Pipeline detection snake-shaped robot and control device thereof | |
| CN209124550U (en) | A kind of pipeline cleaning machine people | |
| CN2842353Y (en) | Condensator copper-pipe two-joint type on-line cleaning robot | |
| CN212929186U (en) | Driving device of pneumatic pipeline crawling operation mechanism | |
| CN102233346A (en) | Dry ice cleaning machine for pipelines | |
| CN204372448U (en) | Pipeline self adaption magnetic force creepage robot | |
| CN214868560U (en) | Threading robot for building electrical construction protection tube | |
| CN203779487U (en) | Detection robot outside heat pipe | |
| CN210475951U (en) | Be used for welded robotic arm | |
| US6832734B2 (en) | Media discharge device | |
| CN111350267A (en) | Combined type in-pipe cleaning robot | |
| CN112171679B (en) | Method for cleaning industrial pipeline group by positioning robot at pipe end of industrial pipeline group | |
| CN214071259U (en) | Pipeline distributor | |
| CN211866081U (en) | Peristaltic pipeline dredging robot | |
| CN1945196A (en) | Two joint type online cleaning robot for condenser copper tube | |
| CN104565673A (en) | Small-diameter pipeline carrier | |
| CN204852531U (en) | Intelligence tap that can remote control autogiration |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200324 |